This paper presents dynamic modeling, controller design, and virtual reality (VR)-based human-in-the-loop real-time simulation for a wheel loader control system. In particular, a loader with electrohydraulic actuation is considered. A detailed nonlinear dynamic model is developed for the hydraulic system and the loader linkage. The hydraulic model includes a load sensing pump, valves, and cylinders. The linkage model represents a two degree of freedom loader with lift and tilt functions. A linear quadratic Gaussian based robust controller is designed for automatic bucket leveling to assist the operator by keeping the angle of the bucket leveled while the boom is in motion. The closed-loop control system design is tested with a nonlinear model in a real-time VR simulation. In the VR simulation, the operator interacts with the model using a joystick input. The loader linkage geometry is displayed to the operator in real time using a VR display. The controller performance was assessed in the VR environment. As expected, the controller was found to provide a significant improvement in the accuracy of the bucket leveling, particularly in the case of a novice operator controlling the linkage motion. While prototypes cannot be eliminated, the VR simulation combined with realistic physics and control dynamics provided a useful tool for evaluating hydraulic systems and controls with less reliance on prototype machines.
Skip Nav Destination
e-mail: falesr@missouri.edu
Article navigation
September 2005
Technical Papers
Modeling and Control of a Wheel Loader With a Human-in-the-Loop Assessment Using Virtual Reality
Roger Fales,
Roger Fales
Assistant Professor
Virtual Reality Applications Center,
e-mail: falesr@missouri.edu
Iowa State University
, Ames, IA 50014
Search for other works by this author on:
Erik Spencer,
Erik Spencer
Graduate Student
Virtual Reality Applications Center,
Iowa State University
, Ames, IA 50014
Search for other works by this author on:
Kurt Chipperfield,
Kurt Chipperfield
Virtual Reality Applications Center,
Iowa State University
, Ames, IA 50014
Search for other works by this author on:
Frank Wagner,
Frank Wagner
Virtual Reality Applications Center,
Iowa State University
, Ames, IA 50014
Search for other works by this author on:
Atul Kelkar
Atul Kelkar
Associate Professor
Virtual Reality Applications Center,
Iowa State University
, Ames, IA 50014
Search for other works by this author on:
Roger Fales
Assistant Professor
Virtual Reality Applications Center,
Iowa State University
, Ames, IA 50014e-mail: falesr@missouri.edu
Erik Spencer
Graduate Student
Virtual Reality Applications Center,
Iowa State University
, Ames, IA 50014
Kurt Chipperfield
Virtual Reality Applications Center,
Iowa State University
, Ames, IA 50014
Frank Wagner
Virtual Reality Applications Center,
Iowa State University
, Ames, IA 50014
Atul Kelkar
Associate Professor
Virtual Reality Applications Center,
Iowa State University
, Ames, IA 50014J. Dyn. Sys., Meas., Control. Sep 2005, 127(3): 415-423 (9 pages)
Published Online: September 7, 2004
Article history
Received:
February 26, 2004
Revised:
September 7, 2004
Citation
Fales, R., Spencer, E., Chipperfield, K., Wagner, F., and Kelkar, A. (September 7, 2004). "Modeling and Control of a Wheel Loader With a Human-in-the-Loop Assessment Using Virtual Reality." ASME. J. Dyn. Sys., Meas., Control. September 2005; 127(3): 415–423. https://doi.org/10.1115/1.1985437
Download citation file:
Get Email Alerts
Offline and Online Exergy-Based Strategies for Hybrid Electric Vehicles
J. Dyn. Sys., Meas., Control (May 2025)
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control
A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear Model Predictive Control Approach
J. Dyn. Sys., Meas., Control (May 2025)
Active Data-Enabled Robot Learning of Elastic Workpiece Interactions
J. Dyn. Sys., Meas., Control (May 2025)
Related Articles
Modeling and Control of Electrostatically Actuated MEMS in the Presence of Parasitics and Parametric Uncertainties
J. Dyn. Sys., Meas., Control (November,2007)
Hydraulic Servo System With Mechanically Adjustable Compliance
J. Dyn. Sys., Meas., Control (March,2002)
Simulation and Experimentation of a Precise Nonlinear Tracking Control Algorithm for a Rotary Servo-Hydraulic System With Minimum Sensors
J. Dyn. Sys., Meas., Control (November,2013)
Robust Control of a Biophysical Model of Burst Suppression
Letters Dyn. Sys. Control (July,2022)
Related Proceedings Papers
Related Chapters
Hydraulics of Rotary Drilling
Oilwell Drilling Engineering
Engine Gas Exchange Controlled by Digital Hydraulics
International Conference on Measurement and Control Engineering 2nd (ICMCE 2011)
Introduction
Hydraulic Fluids: A Guide to Selection, Test Methods and Use